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fix error in biquad coefficients calculation

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improve biquad precision and performance by using direct form 2 transposed instead of direct form 1
keep float results for luxfloat pid controller, instead of casting twice
This commit is contained in:
rav-rav 2016-05-04 22:44:33 +02:00
parent e9963f454b
commit f62ec043cf
5 changed files with 24 additions and 26 deletions
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2
src/main/flight/pid.c
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@ -202,7 +202,7 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
}
}
gyroRate = gyroADC[axis] / 4.0f; // gyro output scaled to rewrite scale
gyroRate = gyroADCf[axis] / 4.0f; // gyro output scaled to rewrite scale
// --------low-level gyro-based PID. ----------
// Used in stand-alone mode for ACRO, controlled by higher level regulators in other modes